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<a href="#pub-types">Public Types</a> &#124;
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<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
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<div class="title">g2o::BaseUnaryEdge&lt; D, E, VertexXi &gt; Class Template Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="base__unary__edge_8h_source.html">base_unary_edge.h</a>&gt;</code></p>
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Inheritance diagram for g2o::BaseUnaryEdge&lt; D, E, VertexXi &gt;:</div>
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Collaboration diagram for g2o::BaseUnaryEdge&lt; D, E, VertexXi &gt;:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:abc04cfacb65fc72825156f1b3346dd48"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt; D, E &gt;::<a class="el" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">ErrorVector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#abc04cfacb65fc72825156f1b3346dd48">ErrorVector</a></td></tr>
<tr class="separator:abc04cfacb65fc72825156f1b3346dd48"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6753caa95c30fa5bb3887e2a30892ff3"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt; D, E &gt;::<a class="el" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">InformationType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a6753caa95c30fa5bb3887e2a30892ff3">InformationType</a></td></tr>
<tr class="separator:a6753caa95c30fa5bb3887e2a30892ff3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24bcabd661223e15b7337f2835310f5e"><td class="memItemLeft" align="right" valign="top">typedef Matrix&lt; double, D, VertexXiType::Dimension &gt;::AlignedMapType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a24bcabd661223e15b7337f2835310f5e">JacobianXiOplusType</a></td></tr>
<tr class="separator:a24bcabd661223e15b7337f2835310f5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab953b076b4c35fcf99de02bd0bfcc1ae"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt; D, E &gt;::<a class="el" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">Measurement</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#ab953b076b4c35fcf99de02bd0bfcc1ae">Measurement</a></td></tr>
<tr class="separator:ab953b076b4c35fcf99de02bd0bfcc1ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a503e62e74775172c008135650850d511"><td class="memItemLeft" align="right" valign="top">typedef VertexXi&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a503e62e74775172c008135650850d511">VertexXiType</a></td></tr>
<tr class="separator:a503e62e74775172c008135650850d511"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classg2o_1_1_base_edge"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classg2o_1_1_base_edge')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classg2o_1_1_base_edge.html">g2o::BaseEdge&lt; D, E &gt;</a></td></tr>
<tr class="memitem:af5b558dd24e4be2e437563cae4b3550d inherit pub_types_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">typedef Matrix&lt; double, D, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">ErrorVector</a></td></tr>
<tr class="separator:af5b558dd24e4be2e437563cae4b3550d inherit pub_types_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e5a33343ac3f189d8a7d5ee4d8b73fc inherit pub_types_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">typedef Matrix&lt; double, D, D &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">InformationType</a></td></tr>
<tr class="separator:a2e5a33343ac3f189d8a7d5ee4d8b73fc inherit pub_types_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c148abba650a20b8c7eed75d3e2211e inherit pub_types_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">typedef E&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">Measurement</a></td></tr>
<tr class="separator:a2c148abba650a20b8c7eed75d3e2211e inherit pub_types_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a4c5ec31144a266fb059b73b2387456c1"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a4c5ec31144a266fb059b73b2387456c1">allVerticesFixed</a> () const</td></tr>
<tr class="separator:a4c5ec31144a266fb059b73b2387456c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7375d1ebfb57ba0308f863739b817b15"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a7375d1ebfb57ba0308f863739b817b15">BaseUnaryEdge</a> ()</td></tr>
<tr class="separator:a7375d1ebfb57ba0308f863739b817b15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad7e6dc44c571be159f066bdb961ade2b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#ad7e6dc44c571be159f066bdb961ade2b">constructQuadraticForm</a> ()</td></tr>
<tr class="memdesc:ad7e6dc44c571be159f066bdb961ade2b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Linearizes the constraint in the edge.  <a href="#ad7e6dc44c571be159f066bdb961ade2b">More...</a><br /></td></tr>
<tr class="separator:ad7e6dc44c571be159f066bdb961ade2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d3311901116092cf817b094f6a0b44b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a3d3311901116092cf817b094f6a0b44b">initialEstimate</a> (const <a class="el" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a> &amp;from, <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a> *to)</td></tr>
<tr class="memdesc:a3d3311901116092cf817b094f6a0b44b"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the estimate of the to vertex, based on the estimate of the from vertices in the edge.  <a href="#a3d3311901116092cf817b094f6a0b44b">More...</a><br /></td></tr>
<tr class="separator:a3d3311901116092cf817b094f6a0b44b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a396fbab83bfc9ce2e2080b16ccc357f4"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_base_unary_edge.html#a24bcabd661223e15b7337f2835310f5e">JacobianXiOplusType</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a396fbab83bfc9ce2e2080b16ccc357f4">jacobianOplusXi</a> () const</td></tr>
<tr class="memdesc:a396fbab83bfc9ce2e2080b16ccc357f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the result of the linearization in the manifold space for the node xi  <a href="#a396fbab83bfc9ce2e2080b16ccc357f4">More...</a><br /></td></tr>
<tr class="separator:a396fbab83bfc9ce2e2080b16ccc357f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b396647b5b438d30a04758023baa595"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a8b396647b5b438d30a04758023baa595">linearizeOplus</a> (<a class="el" href="classg2o_1_1_jacobian_workspace.html">JacobianWorkspace</a> &amp;jacobianWorkspace)</td></tr>
<tr class="memdesc:a8b396647b5b438d30a04758023baa595"><td class="mdescLeft">&#160;</td><td class="mdescRight">Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace.  <a href="#a8b396647b5b438d30a04758023baa595">More...</a><br /></td></tr>
<tr class="separator:a8b396647b5b438d30a04758023baa595"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a367f19b903938faf6e89dd1b0e4e722b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a367f19b903938faf6e89dd1b0e4e722b">linearizeOplus</a> ()</td></tr>
<tr class="memdesc:a367f19b903938faf6e89dd1b0e4e722b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj.  <a href="#a367f19b903938faf6e89dd1b0e4e722b">More...</a><br /></td></tr>
<tr class="separator:a367f19b903938faf6e89dd1b0e4e722b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a919dcb89130f6e7082e807530facdd78"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a919dcb89130f6e7082e807530facdd78">mapHessianMemory</a> (double *, int, int, bool)</td></tr>
<tr class="memdesc:a919dcb89130f6e7082e807530facdd78"><td class="mdescLeft">&#160;</td><td class="mdescRight">maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm  <a href="#a919dcb89130f6e7082e807530facdd78">More...</a><br /></td></tr>
<tr class="separator:a919dcb89130f6e7082e807530facdd78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01fcdfd2d3ed0325655bb99db95c0b10"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a01fcdfd2d3ed0325655bb99db95c0b10">resize</a> (size_t size)</td></tr>
<tr class="memdesc:a01fcdfd2d3ed0325655bb99db95c0b10"><td class="mdescLeft">&#160;</td><td class="mdescRight">resizes the number of vertices connected by this edge  <a href="#a01fcdfd2d3ed0325655bb99db95c0b10">More...</a><br /></td></tr>
<tr class="separator:a01fcdfd2d3ed0325655bb99db95c0b10"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classg2o_1_1_base_edge"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_base_edge')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_base_edge.html">g2o::BaseEdge&lt; D, E &gt;</a></td></tr>
<tr class="memitem:a5efd0eb7e76a7f1ad723e7a5896a54d5 inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a5efd0eb7e76a7f1ad723e7a5896a54d5">BaseEdge</a> ()</td></tr>
<tr class="separator:a5efd0eb7e76a7f1ad723e7a5896a54d5 inherit pub_methods_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8316137ded4396a2dbf7529d83888400 inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a8316137ded4396a2dbf7529d83888400">chi2</a> () const</td></tr>
<tr class="memdesc:a8316137ded4396a2dbf7529d83888400 inherit pub_methods_classg2o_1_1_base_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">computes the chi2 based on the cached error value, only valid after computeError has been called.  <a href="classg2o_1_1_base_edge.html#a8316137ded4396a2dbf7529d83888400">More...</a><br /></td></tr>
<tr class="separator:a8316137ded4396a2dbf7529d83888400 inherit pub_methods_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5a17b29aa9be942157e089bb363a46c inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">ErrorVector</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#ab5a17b29aa9be942157e089bb363a46c">error</a> () const</td></tr>
<tr class="separator:ab5a17b29aa9be942157e089bb363a46c inherit pub_methods_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0a9e3b6d5490c8f4af794c77742faae inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">ErrorVector</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#ad0a9e3b6d5490c8f4af794c77742faae">error</a> ()</td></tr>
<tr class="separator:ad0a9e3b6d5490c8f4af794c77742faae inherit pub_methods_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad99fce6bad0207979b6211ac0d589015 inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">virtual const double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#ad99fce6bad0207979b6211ac0d589015">errorData</a> () const</td></tr>
<tr class="memdesc:ad99fce6bad0207979b6211ac0d589015 inherit pub_methods_classg2o_1_1_base_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the error vector cached after calling the computeError;  <a href="classg2o_1_1_base_edge.html#ad99fce6bad0207979b6211ac0d589015">More...</a><br /></td></tr>
<tr class="separator:ad99fce6bad0207979b6211ac0d589015 inherit pub_methods_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab80452c1134036928a2af6303412a3c4 inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">virtual double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#ab80452c1134036928a2af6303412a3c4">errorData</a> ()</td></tr>
<tr class="separator:ab80452c1134036928a2af6303412a3c4 inherit pub_methods_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a405f8d52738e557a0860b52ac67a005b inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">InformationType</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a405f8d52738e557a0860b52ac67a005b">information</a> () const</td></tr>
<tr class="memdesc:a405f8d52738e557a0860b52ac67a005b inherit pub_methods_classg2o_1_1_base_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">information matrix of the constraint  <a href="classg2o_1_1_base_edge.html#a405f8d52738e557a0860b52ac67a005b">More...</a><br /></td></tr>
<tr class="separator:a405f8d52738e557a0860b52ac67a005b inherit pub_methods_classg2o_1_1_base_edge"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addff9120320d63504e07bfe17f1d04a7 inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">InformationType</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#addff9120320d63504e07bfe17f1d04a7">information</a> ()</td></tr>
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<tr class="memitem:acf02f0d69998b75b207bc102f079d5b8 inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">virtual const double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#acf02f0d69998b75b207bc102f079d5b8">informationData</a> () const</td></tr>
<tr class="memdesc:acf02f0d69998b75b207bc102f079d5b8 inherit pub_methods_classg2o_1_1_base_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the memory of the information matrix, usable for example with a Eigen::Map&lt;MatrixXd&gt;  <a href="classg2o_1_1_base_edge.html#acf02f0d69998b75b207bc102f079d5b8">More...</a><br /></td></tr>
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<tr class="memitem:a72ae9d215d6abc892f735e3d3ab81a88 inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">virtual double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a72ae9d215d6abc892f735e3d3ab81a88">informationData</a> ()</td></tr>
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<tr class="memitem:a8e890d43f491afdd035713ff176ddd5c inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">Measurement</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a8e890d43f491afdd035713ff176ddd5c">measurement</a> () const</td></tr>
<tr class="memdesc:a8e890d43f491afdd035713ff176ddd5c inherit pub_methods_classg2o_1_1_base_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">accessor functions for the measurement represented by the edge  <a href="classg2o_1_1_base_edge.html#a8e890d43f491afdd035713ff176ddd5c">More...</a><br /></td></tr>
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<tr class="memitem:a6776919120a8eaca8e4b9d0e6b8a421d inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a6776919120a8eaca8e4b9d0e6b8a421d">rank</a> () const</td></tr>
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<tr class="memitem:a9bb871a94d2413ec3113a147417f2dc4 inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a9bb871a94d2413ec3113a147417f2dc4">setInformation</a> (const <a class="el" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">InformationType</a> &amp;<a class="el" href="classg2o_1_1_base_edge.html#a405f8d52738e557a0860b52ac67a005b">information</a>)</td></tr>
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<tr class="memitem:a24aae7b4fc35d311158f104cfdd95aeb inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a24aae7b4fc35d311158f104cfdd95aeb">setMeasurement</a> (const <a class="el" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">Measurement</a> &amp;m)</td></tr>
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<tr class="memitem:a92a5cba950b867f9ff10b8154291087c inherit pub_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a92a5cba950b867f9ff10b8154291087c">~BaseEdge</a> ()</td></tr>
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<tr class="inherit_header pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_optimizable_graph_1_1_edge')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html">g2o::OptimizableGraph::Edge</a></td></tr>
<tr class="memitem:a1a238c63bc8a799ada3ac5712e13315e inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html">Edge</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a1a238c63bc8a799ada3ac5712e13315e">clone</a> () const</td></tr>
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<tr class="memitem:a1e6d9f4128866982de5e11e03edd7775 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a1e6d9f4128866982de5e11e03edd7775">computeError</a> ()=0</td></tr>
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<tr class="memitem:abd98d7a174df25bcc82cfdacba682fec inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">Vertex</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#abd98d7a174df25bcc82cfdacba682fec">createFrom</a> ()</td></tr>
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<tr class="memitem:a39c22b396ab312059ea8fa4c2776be2e inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">Vertex</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a39c22b396ab312059ea8fa4c2776be2e">createTo</a> ()</td></tr>
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<tr class="memitem:a0eb19697e201bd195c45ca78d55fd041 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a0eb19697e201bd195c45ca78d55fd041">dimension</a> () const</td></tr>
<tr class="memdesc:a0eb19697e201bd195c45ca78d55fd041 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the dimensions of the error function  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a0eb19697e201bd195c45ca78d55fd041">More...</a><br /></td></tr>
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<tr class="memitem:a6568eb7f3b3e4299473ec3230199aa70 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a6568eb7f3b3e4299473ec3230199aa70">Edge</a> ()</td></tr>
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<tr class="memitem:abe22d8f67447fc93c49b5aa730eaba83 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#abe22d8f67447fc93c49b5aa730eaba83">getMeasurementData</a> (double *m) const</td></tr>
<tr class="memdesc:abe22d8f67447fc93c49b5aa730eaba83 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the measurement to an array of double  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#abe22d8f67447fc93c49b5aa730eaba83">More...</a><br /></td></tr>
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<tr class="memitem:a3684190bf8e99f39f58ffadd0dfa6b05 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a3684190bf8e99f39f58ffadd0dfa6b05">graph</a> ()</td></tr>
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<tr class="memitem:a06fdc51c984cf0050df376ca30c881e3 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a06fdc51c984cf0050df376ca30c881e3">graph</a> () const</td></tr>
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<tr class="memitem:a1cef6ffa0f82f1ad3dd3d7a9f04425ee inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a1cef6ffa0f82f1ad3dd3d7a9f04425ee">initialEstimatePossible</a> (const <a class="el" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a> &amp;from, <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a> *to)</td></tr>
<tr class="memdesc:a1cef6ffa0f82f1ad3dd3d7a9f04425ee inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">override in your class if it's possible to initialize the vertices in certain combinations.  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a1cef6ffa0f82f1ad3dd3d7a9f04425ee">More...</a><br /></td></tr>
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<tr class="memitem:a3c6e31c64d98db332e83166bfbd1d7ff inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">long long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a3c6e31c64d98db332e83166bfbd1d7ff">internalId</a> () const</td></tr>
<tr class="memdesc:a3c6e31c64d98db332e83166bfbd1d7ff inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">the internal ID of the edge  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a3c6e31c64d98db332e83166bfbd1d7ff">More...</a><br /></td></tr>
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<tr class="memitem:a25c2b618815622ab79705c497390d22f inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a25c2b618815622ab79705c497390d22f">level</a> () const</td></tr>
<tr class="memdesc:a25c2b618815622ab79705c497390d22f inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the level of the edge  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a25c2b618815622ab79705c497390d22f">More...</a><br /></td></tr>
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<tr class="memitem:a3441f5e149c30c50ce8557574ac7d1a8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a3441f5e149c30c50ce8557574ac7d1a8">measurementDimension</a> () const</td></tr>
<tr class="memdesc:a3441f5e149c30c50ce8557574ac7d1a8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a3441f5e149c30c50ce8557574ac7d1a8">More...</a><br /></td></tr>
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<tr class="memitem:ae7da26fd36246411bc53ca008bc24fcf inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#ae7da26fd36246411bc53ca008bc24fcf">numParameters</a> () const</td></tr>
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<tr class="memitem:a4a224a1d0d0bc5ef70765f57ae685d09 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_parameter.html">Parameter</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a4a224a1d0d0bc5ef70765f57ae685d09">parameter</a> (int argNo) const</td></tr>
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<tr class="memitem:a30cf69b762a06aa35e796d8af71632b0 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a30cf69b762a06aa35e796d8af71632b0">read</a> (std::istream &amp;is)=0</td></tr>
<tr class="memdesc:a30cf69b762a06aa35e796d8af71632b0 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">read the vertex from a stream, i.e., the internal state of the vertex  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a30cf69b762a06aa35e796d8af71632b0">More...</a><br /></td></tr>
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<tr class="memitem:ac978364c99e36c7fced59ecb383ba171 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#ac978364c99e36c7fced59ecb383ba171">resizeParameters</a> (size_t newSize)</td></tr>
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<tr class="memitem:a4fe9c69dc5275ca661e793aca6e2d93c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_robust_kernel.html">RobustKernel</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a4fe9c69dc5275ca661e793aca6e2d93c">robustKernel</a> () const</td></tr>
<tr class="memdesc:a4fe9c69dc5275ca661e793aca6e2d93c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">if NOT NULL, error of this edge will be robustifed with the kernel  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a4fe9c69dc5275ca661e793aca6e2d93c">More...</a><br /></td></tr>
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<tr class="memitem:ab3e4290bc51d03ba294f36254048b15a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#ab3e4290bc51d03ba294f36254048b15a">setLevel</a> (int l)</td></tr>
<tr class="memdesc:ab3e4290bc51d03ba294f36254048b15a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the level of the edge  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#ab3e4290bc51d03ba294f36254048b15a">More...</a><br /></td></tr>
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<tr class="memitem:ae8d99a85921057eba87a2346ba9c6e0a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#ae8d99a85921057eba87a2346ba9c6e0a">setMeasurementData</a> (const double *m)</td></tr>
<tr class="memdesc:ae8d99a85921057eba87a2346ba9c6e0a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the measurement from an array of double  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#ae8d99a85921057eba87a2346ba9c6e0a">More...</a><br /></td></tr>
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<tr class="memitem:a2f0b6465d6cd8b459ebc6494892c44f4 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a2f0b6465d6cd8b459ebc6494892c44f4">setMeasurementFromState</a> ()</td></tr>
<tr class="memdesc:a2f0b6465d6cd8b459ebc6494892c44f4 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the estimate to have a zero error, based on the current value of the state variables returns false if not supported.  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a2f0b6465d6cd8b459ebc6494892c44f4">More...</a><br /></td></tr>
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<tr class="memitem:ae535735e71365a547fd1a11fae5378f6 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#ae535735e71365a547fd1a11fae5378f6">setParameterId</a> (int argNum, int paramId)</td></tr>
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<tr class="memitem:a42955172c19f16e2cfbb30d611d1bd87 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a42955172c19f16e2cfbb30d611d1bd87">setRobustKernel</a> (<a class="el" href="classg2o_1_1_robust_kernel.html">RobustKernel</a> *ptr)</td></tr>
<tr class="memdesc:a42955172c19f16e2cfbb30d611d1bd87 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">specify the robust kernel to be used in this edge  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a42955172c19f16e2cfbb30d611d1bd87">More...</a><br /></td></tr>
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<tr class="memitem:a804b9a2178249b9297c55b8fbbeda56e inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a804b9a2178249b9297c55b8fbbeda56e">write</a> (std::ostream &amp;os) const =0</td></tr>
<tr class="memdesc:a804b9a2178249b9297c55b8fbbeda56e inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">write the vertex to a stream  <a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a804b9a2178249b9297c55b8fbbeda56e">More...</a><br /></td></tr>
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<tr class="memitem:a62de61a43d47cf223fe39265dac13ca5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a62de61a43d47cf223fe39265dac13ca5">~Edge</a> ()</td></tr>
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<tr class="inherit_header pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_hyper_graph_1_1_edge')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html">g2o::HyperGraph::Edge</a></td></tr>
<tr class="memitem:a891618b34652837ef0bee7084db81f2e inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#a891618b34652837ef0bee7084db81f2e">Edge</a> (int <a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#a93f47febcbd6c654fc3344d4643a087f">id</a>=-1)</td></tr>
<tr class="memdesc:a891618b34652837ef0bee7084db81f2e inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">creates and empty edge with no vertices  <a href="classg2o_1_1_hyper_graph_1_1_edge.html#a891618b34652837ef0bee7084db81f2e">More...</a><br /></td></tr>
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<tr class="memitem:a04f1b4d408aebdf14ac3f0cfd247b776 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">HyperGraphElementType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#a04f1b4d408aebdf14ac3f0cfd247b776">elementType</a> () const</td></tr>
<tr class="memdesc:a04f1b4d408aebdf14ac3f0cfd247b776 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the type of the graph element, see HyperGraphElementType  <a href="classg2o_1_1_hyper_graph_1_1_edge.html#a04f1b4d408aebdf14ac3f0cfd247b776">More...</a><br /></td></tr>
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<tr class="memitem:a93f47febcbd6c654fc3344d4643a087f inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#a93f47febcbd6c654fc3344d4643a087f">id</a> () const</td></tr>
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<tr class="memitem:a1270ed91efa5f7a0fc42229356cc23e1 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#a1270ed91efa5f7a0fc42229356cc23e1">setId</a> (int <a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#a93f47febcbd6c654fc3344d4643a087f">id</a>)</td></tr>
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<tr class="memitem:a5e957658d6e65c49b81197d052a7f16f inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#a5e957658d6e65c49b81197d052a7f16f">setVertex</a> (size_t i, <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a> *v)</td></tr>
<tr class="memdesc:a5e957658d6e65c49b81197d052a7f16f inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the ith vertex on the hyper-edge to the pointer supplied  <a href="classg2o_1_1_hyper_graph_1_1_edge.html#a5e957658d6e65c49b81197d052a7f16f">More...</a><br /></td></tr>
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<tr class="memitem:ab644c1c4e38a0112db1435fbc0233f25 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#ab644c1c4e38a0112db1435fbc0233f25">vertex</a> (size_t i) const</td></tr>
<tr class="memdesc:ab644c1c4e38a0112db1435fbc0233f25 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the pointer to the ith vertex connected to the hyper-edge.  <a href="classg2o_1_1_hyper_graph_1_1_edge.html#ab644c1c4e38a0112db1435fbc0233f25">More...</a><br /></td></tr>
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<tr class="memitem:af544d5d17d900c5aa2b5c9219d8e716f inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#af544d5d17d900c5aa2b5c9219d8e716f">vertex</a> (size_t i)</td></tr>
<tr class="memdesc:af544d5d17d900c5aa2b5c9219d8e716f inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the pointer to the ith vertex connected to the hyper-edge.  <a href="classg2o_1_1_hyper_graph_1_1_edge.html#af544d5d17d900c5aa2b5c9219d8e716f">More...</a><br /></td></tr>
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<tr class="memitem:aba1717ff01f972bd39ba992c0d9d9e04 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_hyper_graph.html#a9339534c99300a0ddac87ba976ef188c">VertexContainer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#aba1717ff01f972bd39ba992c0d9d9e04">vertices</a> () const</td></tr>
<tr class="memdesc:aba1717ff01f972bd39ba992c0d9d9e04 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the vector of pointers to the vertices connected by the hyper-edge.  <a href="classg2o_1_1_hyper_graph_1_1_edge.html#aba1717ff01f972bd39ba992c0d9d9e04">More...</a><br /></td></tr>
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<tr class="memitem:a67d1c5cb557deab9e9e361c63359fe60 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_hyper_graph.html#a9339534c99300a0ddac87ba976ef188c">VertexContainer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#a67d1c5cb557deab9e9e361c63359fe60">vertices</a> ()</td></tr>
<tr class="memdesc:a67d1c5cb557deab9e9e361c63359fe60 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the vector of pointers to the vertices connected by the hyper-edge.  <a href="classg2o_1_1_hyper_graph_1_1_edge.html#a67d1c5cb557deab9e9e361c63359fe60">More...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">g2o::HyperGraph::HyperGraphElement</a></td></tr>
<tr class="memitem:ab02c385ff2bd544037e2bef795761b2e inherit pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html#ab02c385ff2bd544037e2bef795761b2e">~HyperGraphElement</a> ()</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr class="memitem:a4e584cf552998a34948d8d5b484f7fd3"><td class="memItemLeft" align="right" valign="top">static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#a4e584cf552998a34948d8d5b484f7fd3">Dimension</a> = <a class="el" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt;D, E&gt;::Dimension</td></tr>
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<tr class="inherit_header pub_static_attribs_classg2o_1_1_base_edge"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classg2o_1_1_base_edge')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classg2o_1_1_base_edge.html">g2o::BaseEdge&lt; D, E &gt;</a></td></tr>
<tr class="memitem:ab4812acb21e0b9de80dc6d676e71cb70 inherit pub_static_attribs_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top">static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#ab4812acb21e0b9de80dc6d676e71cb70">Dimension</a> = D</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:af7d022a6c6c9c29dfd9147fce0dc13d8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_unary_edge.html#a24bcabd661223e15b7337f2835310f5e">JacobianXiOplusType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_unary_edge.html#af7d022a6c6c9c29dfd9147fce0dc13d8">_jacobianOplusXi</a></td></tr>
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<tr class="inherit_header pro_attribs_classg2o_1_1_base_edge"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_base_edge')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_base_edge.html">g2o::BaseEdge&lt; D, E &gt;</a></td></tr>
<tr class="memitem:af31f4b0a67bb12b4de4a32dc42467836 inherit pro_attribs_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">ErrorVector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#af31f4b0a67bb12b4de4a32dc42467836">_error</a></td></tr>
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<tr class="memitem:a49f11e3d1eaa8e666e1d4d3607279377 inherit pro_attribs_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">InformationType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a49f11e3d1eaa8e666e1d4d3607279377">_information</a></td></tr>
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<tr class="memitem:af2a6ab1df6e91601b4cab23e0e99e034 inherit pro_attribs_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">Measurement</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#af2a6ab1df6e91601b4cab23e0e99e034">_measurement</a></td></tr>
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<tr class="inherit_header pro_attribs_classg2o_1_1_optimizable_graph_1_1_edge"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_optimizable_graph_1_1_edge')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html">g2o::OptimizableGraph::Edge</a></td></tr>
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<tr class="inherit_header pro_attribs_classg2o_1_1_hyper_graph_1_1_edge"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_hyper_graph_1_1_edge')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html">g2o::HyperGraph::Edge</a></td></tr>
<tr class="memitem:aa1b6978624f7c165a4e0461cb5ff18fa inherit pro_attribs_classg2o_1_1_hyper_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#aa1b6978624f7c165a4e0461cb5ff18fa">_id</a></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_methods_classg2o_1_1_base_edge"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classg2o_1_1_base_edge')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classg2o_1_1_base_edge.html">g2o::BaseEdge&lt; D, E &gt;</a></td></tr>
<tr class="memitem:a069937ed6fadf557368cd0fce7ab2f59 inherit pro_methods_classg2o_1_1_base_edge"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">InformationType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_edge.html#a069937ed6fadf557368cd0fce7ab2f59">robustInformation</a> (const Eigen::Vector3d &amp;rho)</td></tr>
<tr class="memdesc:a069937ed6fadf557368cd0fce7ab2f59 inherit pro_methods_classg2o_1_1_base_edge"><td class="mdescLeft">&#160;</td><td class="mdescRight">calculate the robust information matrix by updating the information matrix of the error  <a href="classg2o_1_1_base_edge.html#a069937ed6fadf557368cd0fce7ab2f59">More...</a><br /></td></tr>
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<tr class="inherit_header pro_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classg2o_1_1_optimizable_graph_1_1_edge')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html">g2o::OptimizableGraph::Edge</a></td></tr>
<tr class="memitem:a237bea2f2fb7cc6a9cf4ee5ee6fe4d88 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memTemplParams" colspan="2">template&lt;typename ParameterType &gt; </td></tr>
<tr class="memitem:a237bea2f2fb7cc6a9cf4ee5ee6fe4d88 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a237bea2f2fb7cc6a9cf4ee5ee6fe4d88">installParameter</a> (ParameterType *&amp;p, size_t argNo, int paramId=-1)</td></tr>
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<tr class="memitem:ad95f2883af693de56e46a2b272dc1cdc inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memTemplParams" colspan="2">template&lt;typename CacheType &gt; </td></tr>
<tr class="memitem:ad95f2883af693de56e46a2b272dc1cdc inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#ad95f2883af693de56e46a2b272dc1cdc">resolveCache</a> (CacheType *&amp;cache, <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a> *, const std::string &amp;_type, const <a class="el" href="namespaceg2o.html#a85cc8f2c7db8cab47b2b269a7acd6785">ParameterVector</a> &amp;parameters)</td></tr>
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<tr class="memitem:aa93e3a4f976b467994f4eb7679a04bf3 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#aa93e3a4f976b467994f4eb7679a04bf3">resolveCaches</a> ()</td></tr>
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<tr class="memitem:addadf494f3a1c8bf467a74454d771d0d inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_edge"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#addadf494f3a1c8bf467a74454d771d0d">resolveParameters</a> ()</td></tr>
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<h2 class="groupheader">Member Typedef Documentation</h2>
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template&lt;int D, typename E, typename VertexXi&gt; </div>
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template&lt;int D, typename E, typename VertexXi&gt; </div>
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template&lt;int D, typename E, typename VertexXi&gt; </div>
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template&lt;int D, typename E, typename VertexXi&gt; </div>
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          <td class="memname">typedef <a class="el" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt;D,E&gt;::<a class="el" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">Measurement</a> <a class="el" href="classg2o_1_1_base_unary_edge.html">g2o::BaseUnaryEdge</a>&lt; D, E, VertexXi &gt;::<a class="el" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">Measurement</a></td>
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template&lt;int D, typename E, typename VertexXi&gt; </div>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">bool BaseUnaryEdge::allVerticesFixed </td>
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<p>Implements <a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a414c69ca1617a4d3b620e39f2ffbcea7">g2o::OptimizableGraph::Edge</a>.</p>

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template&lt;int D, typename E , typename VertexXiType &gt; </div>
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          <td class="memname">void BaseUnaryEdge::constructQuadraticForm </td>
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<p>Linearizes the constraint in the edge. </p>
<p>Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accesed via _hessian. </p>

<p>Implements <a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a56fbf3430ddf591e3c619bdd1b7e4499">g2o::OptimizableGraph::Edge</a>.</p>

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          <td class="paramtype"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a> *&#160;</td>
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<p>set the estimate of the to vertex, based on the estimate of the from vertices in the edge. </p>

<p>Reimplemented from <a class="el" href="classg2o_1_1_base_edge.html#a0c3d9763f1dc504627df75e0f381ca70">g2o::BaseEdge&lt; D, E &gt;</a>.</p>

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          <td class="memname">const <a class="el" href="classg2o_1_1_base_unary_edge.html#a24bcabd661223e15b7337f2835310f5e">JacobianXiOplusType</a>&amp; <a class="el" href="classg2o_1_1_base_unary_edge.html">g2o::BaseUnaryEdge</a>&lt; D, E, VertexXi &gt;::jacobianOplusXi </td>
          <td>(</td>
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<p>returns the result of the linearization in the manifold space for the node xi </p>

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<p>Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace. </p>

<p>Implements <a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a0fdad5ebfb4efec9f893b57f67e0fbe1">g2o::OptimizableGraph::Edge</a>.</p>

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<p>Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj. </p>

<p>Reimplemented in <a class="el" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#a0b2b815e8ae331276f33be374dcc1897">g2o::EdgeStereoSE3ProjectXYZOnlyPose</a>, and <a class="el" href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#abe6d775aade1277786274c328aa2c38b">g2o::EdgeSE3ProjectXYZOnlyPose</a>.</p>

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<p>maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">d</td><td>the memory location to which we map </td></tr>
    <tr><td class="paramname">i</td><td>index of the vertex i </td></tr>
    <tr><td class="paramname">j</td><td>index of the vertex j (j &gt; i, upper triangular fashion) </td></tr>
    <tr><td class="paramname">rowMajor</td><td>if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed </td></tr>
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<p>Implements <a class="el" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a3bd233fd552daa166039acf47b69a5a7">g2o::OptimizableGraph::Edge</a>.</p>

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<p>resizes the number of vertices connected by this edge </p>

<p>Reimplemented from <a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html#ad8913f1149a0fd5bb628f0f1c8a91a55">g2o::HyperGraph::Edge</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
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template&lt;int D, typename E, typename VertexXi&gt; </div>
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          <td class="memname"><a class="el" href="classg2o_1_1_base_unary_edge.html#a24bcabd661223e15b7337f2835310f5e">JacobianXiOplusType</a> <a class="el" href="classg2o_1_1_base_unary_edge.html">g2o::BaseUnaryEdge</a>&lt; D, E, VertexXi &gt;::_jacobianOplusXi</td>
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template&lt;int D, typename E, typename VertexXi&gt; </div>
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          <td class="memname">const int <a class="el" href="classg2o_1_1_base_unary_edge.html">g2o::BaseUnaryEdge</a>&lt; D, E, VertexXi &gt;::Dimension = <a class="el" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt;D, E&gt;::Dimension</td>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="base__unary__edge_8h_source.html">base_unary_edge.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="base__unary__edge_8hpp_source.html">base_unary_edge.hpp</a></li>
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